kinematics6M90G.cpp

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/***************************************************************************
 *   Copyright (C) 2008 by Neuronics AG                                    *
 *   support@neuronics.ch                                                  *
 ***************************************************************************/

#include <kinematics6M90G.h>

namespace AnaGuess {

Kinematics6M90G::Kinematics6M90G() {
        initialize();
}
Kinematics6M90G::~Kinematics6M90G() {

}

std::vector<double> Kinematics6M90G::getLinkLength() {
        std::vector<double> result(mSegmentLength);
        return result;
}
std::vector<int> Kinematics6M90G::getEpc() {
        std::vector<int> result(mEncodersPerCycle);
        return result;
}
std::vector<int> Kinematics6M90G::getEncOff() {
        std::vector<int> result(mEncoderOffset);
        return result;
}
std::vector<int> Kinematics6M90G::getDir() {
        std::vector<int> result(mRotationDirection);
        return result;
}
std::vector<double> Kinematics6M90G::getAngOff() {
        std::vector<double> result(mAngleOffset);
        return result;
}
std::vector<double> Kinematics6M90G::getAngStop() {
        std::vector<double> result(mAngleStop);
        return result;
}
std::vector<double> Kinematics6M90G::getAngRange() {
        std::vector<double> result;
        double diff;
        for (int i = 0; i < 6; i++) {
                diff = mAngleStop[i] - mAngleOffset[i];
                if (diff < 0) {
                        result.push_back(-diff);
                } else {
                        result.push_back(diff);
                }
        }
        return result;
}
std::vector<double> Kinematics6M90G::getAngMin() {
        std::vector<double> result;
        for (int i = 0; i < 6; i++) {
                if (mAngleStop[i] < mAngleOffset[i]) {
                        result.push_back(mAngleStop[i]);
                } else {
                        result.push_back(mAngleOffset[i]);
                }
        }
        return result;
}
std::vector<double> Kinematics6M90G::getAngMax() {
        std::vector<double> result;
        for (int i = 0; i < 6; i++) {
                if (mAngleStop[i] < mAngleOffset[i]) {
                        result.push_back(mAngleOffset[i]);
                } else {
                        result.push_back(mAngleStop[i]);
                }
        }
        return result;
}

bool Kinematics6M90G::setLinkLength(const std::vector<double> aLengths) {
        if ((int) aLengths.size() != mNumberOfSegments) {
                return false;
        }

        for (int i = 0; i < mNumberOfSegments; ++i) {
                mSegmentLength[i] = aLengths.at(i);
        }

        return true;
}
bool Kinematics6M90G::setAngOff(const std::vector<double> aAngOff) {
        if ((int) aAngOff.size() != mNumberOfMotors) {
                return false;
        }

        for (int i = 0; i < mNumberOfMotors; ++i) {
                mAngleOffset[i] = aAngOff.at(i);
        }

        return true;
}
bool Kinematics6M90G::setAngStop(const std::vector<double> aAngStop) {
        if ((int) aAngStop.size() != mNumberOfMotors) {
                return false;
        }

        for (int i = 0; i < mNumberOfMotors; ++i) {
                mAngleStop[i] = aAngStop.at(i);
        }

        return true;
}

bool Kinematics6M90G::enc2rad(std::vector<double>& aAngles, const std::vector<int> aEncoders) {
        for(int i = 0; i < 6; ++i) {
                aAngles[i] = MHF::enc2rad(aEncoders[i], mAngleOffset[i], mEncodersPerCycle[i], mEncoderOffset[i], mRotationDirection[i]);
        }
        return true;
}
bool Kinematics6M90G::rad2enc(std::vector<int>& aEncoders, const std::vector<double> aAngles) {
        for(int i = 0; i < 6; ++i ) {
                aEncoders[i] = MHF::rad2enc(aAngles[i], mAngleOffset[i], mEncodersPerCycle[i], mEncoderOffset[i], mRotationDirection[i]);
        }
        return true;
}

bool Kinematics6M90G::directKinematics(std::vector<double>& aPosition, const std::vector<double> aAngles) {
        if(!mIsInitialized) {
                initialize();
        }

        // numering the angles starting by 0-5

        double x0, x1, x2, x3;
        double y0, y1, y2, y3;
        double z0, z1, z2, z3;
        double R13, R23, R33, R31, R32;

        std::vector<double> current_angles(6);
        for(int i = 0; i < 6; ++i) {
                current_angles[i] = aAngles[i];
        }

        // needs refactoring:
        current_angles[1] = current_angles[1] - MHF_PI/2.0;
        current_angles[2] = current_angles[2] - MHF_PI;
        current_angles[3] = MHF_PI - current_angles[3];

        std::vector<double> pose(6);

        std::vector<double> cx(current_angles.size()), sx(current_angles.size());
        std::vector<double>::iterator cx_iter, sx_iter;

        std::vector<double> angle = current_angles;

        angle[2] = angle[1]+angle[2];
        angle[3] = angle[2]+angle[3];

        cx_iter = cx.begin();
        sx_iter = sx.begin();
        std::transform(angle.begin(), angle.end(), sx_iter, MHF::unary_precalc_sin<double>() );
        std::transform(angle.begin(), angle.end(), cx_iter, MHF::unary_precalc_cos<double>() );

        R13 = (-1*cx[0]*cx[3]*cx[4])-(sx[0]*sx[4]);
        R23 = (-1*sx[0]*cx[3]*cx[4])+(cx[0]*sx[4]);
        R33 = sx[3]*cx[4];
        R31 = cx[3];
        R32 =(-1)*sx[3]*sx[4];

        //x
        x0 =  cx[0]*sx[1];
        x1 =  cx[0]*sx[2];
        x2 =  cx[0]*sx[3];
        x3 = -cx[0]*cx[3]*cx[4]-sx[0]*sx[4];
        pose[0] = x0*mSegmentLength[0]+x1*mSegmentLength[1]+x2*mSegmentLength[2]+x3*mSegmentLength[3];

        //y
        y0 = sx[0]*sx[1];
        y1 = sx[0]*sx[2];
        y2 = sx[0]*sx[3];
        y3 = -sx[0]*cx[3]*cx[4]+cx[0]*sx[4];
        pose[1] = y0*mSegmentLength[0]+y1*mSegmentLength[1]+y2*mSegmentLength[2]+y3*mSegmentLength[3];

        //z
        z0 = cx[1];
        z1 = cx[2];
        z2 = cx[3];
        z3 = cx[4]*sx[3];
        pose[2] = z0*mSegmentLength[0]+z1*mSegmentLength[1]+z2*mSegmentLength[2]+z3*mSegmentLength[3];

        // phi, theta, psi
        pose[4] = acos(R33);
        if(pose[4]==0) {
                pose[3] = atan2(pose[1],pose[0]);
                pose[5] = 0;
        } else if(pose[4]==MHF_PI) {
                pose[3] = atan2(pose[1],pose[0])+MHF_PI/2;
                pose[5] = MHF_PI/2;
        } else {
                pose[3] = atan2(R13,-R23);
                pose[5] = atan2(R31,R32);
        }


        std::swap(aPosition, pose);
        return true;
}
bool Kinematics6M90G::inverseKinematics(std::vector<double>& aAngles, const std::vector<double> aPosition,
                const std::vector<double> aStartingAngles) {
        if(!mIsInitialized) {
                initialize();
        }

        // aPosition: Winkel Deg->Rad
        // Alle 8 Loeungen werden in einem Array angle, welches aus 8 Structs besteht, gespeichert:
        // 0-3 fr theta1_1
        // 4-7 fr theta1_2

        // Declaration
        position p_gr;
        position p_m;
        angles_container angle(cNrOfPossibleSolutions);

        // calculation of the gripper vector
        p_gr.x = mSegmentLength[3]*sin(aPosition[4])*sin(aPosition[3]);
        p_gr.y = -mSegmentLength[3]*sin(aPosition[4])*cos(aPosition[3]);
        p_gr.z = mSegmentLength[3]*cos(aPosition[4]);

        p_m.x = aPosition[0]-p_gr.x;
        p_m.y = aPosition[1]-p_gr.y;
        p_m.z = aPosition[2]-p_gr.z;

        // calculate theta1_1 and theta1_2
        angle[0].theta1 = MHF::atan1(p_m.x,p_m.y);
        angle[4].theta1 = angle[0].theta1+MHF_PI;


        // check the borders according to the settings
        if(angle[0].theta1>mAngleStop[0])
                angle[0].theta1=angle[0].theta1-2.0*MHF_PI;

        if(angle[0].theta1<mAngleOffset[0])
                angle[0].theta1=angle[0].theta1+2.0*MHF_PI;

        if(angle[4].theta1>mAngleStop[0])
                angle[4].theta1=angle[4].theta1-2.0*MHF_PI;

        if(angle[4].theta1<mAngleOffset[0])
                angle[4].theta1=angle[4].theta1+2.0*MHF_PI;


        //====THETA1_1==================
        //-------THETA234_1-------------
        IK_theta234theta5(angle[0], p_gr);
        IK_b1b2costh3_6MS(angle[0], p_m);

        angle[1]=angle[0];
        angle[0].theta3 =  acos(angle[0].costh3)-MHF_PI;
        thetacomp(angle[0], p_m);
        angle[1].theta3 =  -acos(angle[1].costh3)+MHF_PI;
        thetacomp(angle[1], p_m);

        //-------THETA234_2-------------
        angle[2].theta1=angle[0].theta1;
        angle[2].theta234=angle[0].theta234-MHF_PI;
        angle[2].theta5=MHF_PI-angle[0].theta5;

        IK_b1b2costh3_6MS(angle[2], p_m);
        angle[3]=angle[2];
        angle[2].theta3 =  acos(angle[2].costh3)-MHF_PI;
        thetacomp(angle[2], p_m);
        angle[3].theta3 =  -acos(angle[3].costh3)+MHF_PI;
        thetacomp(angle[3], p_m);


        //====THETA1_2==================
        //-------THETA234_1-------------
        IK_theta234theta5(angle[4], p_gr);
        IK_b1b2costh3_6MS(angle[4], p_m);

        angle[5]=angle[4];
        angle[4].theta3 =  acos(angle[4].costh3)-MHF_PI;
        thetacomp(angle[4], p_m);
        angle[5].theta3 =  -acos(angle[5].costh3)+MHF_PI;
        thetacomp(angle[5], p_m);

        //-------THETA234_2-------------
        angle[6].theta1=angle[4].theta1;
        angle[6].theta234=angle[4].theta234-MHF_PI;
        angle[6].theta5=MHF_PI-angle[4].theta5;
        IK_b1b2costh3_6MS(angle[6], p_m);
        angle[7]=angle[6];
        angle[6].theta3 =  acos(angle[6].costh3)-MHF_PI;
        thetacomp(angle[6], p_m);
        angle[7].theta3 =  -acos(angle[7].costh3)+MHF_PI;
        thetacomp(angle[7], p_m);

        // delete solutions out of range (in joint space)
        for( ::std::vector<angles_calc>::iterator iter = angle.begin(); iter != angle.end(); /* do iter forward in body */ ) {
                if( MHF::pow2(iter->costh3) <= 1.0) {
                        if(!angledef(*iter))
                                iter = angle.erase(iter);
                        else
                                ++iter;
                        continue;
                }
                iter = angle.erase(iter);
        }


        // check if solutions in range left
        if(angle.size() == 0) {
                throw NoSolutionException();
        }

        // store possible solution angles to std::vector<std::vector<double>>
        std::vector< std::vector<double> > PossibleTargets;
        for( std::vector<angles_calc>::iterator i = angle.begin(); i != angle.end(); ++i ) {
                std::vector<double> possangles(5);

                possangles[0] = i->theta1;
                possangles[1] = i->theta2;
                possangles[2] = i->theta3;
                possangles[3] = i->theta4;
                possangles[4] = i->theta5;

                PossibleTargets.push_back(possangles);
        }

        // choose best solution
        std::vector< std::vector<double> >::const_iterator sol = KinematicsDefaultRadMinAlgorithm()(PossibleTargets.begin(), PossibleTargets.end(), aStartingAngles.begin(), aStartingAngles.end());

        if(sol == PossibleTargets.end()) {
                throw NoSolutionException();
        }

        // copy solution to aAngles vector
        for (int i = aAngles.size(); i < 6; ++i)
                aAngles.push_back(0.0);
        std::vector<double>::iterator gripper_iter = std::copy( (*sol).begin(), (*sol).end(), aAngles.begin() );
        *gripper_iter = aStartingAngles[5]; // copy gripper-angle from current

        return true;
}
bool Kinematics6M90G::initialize() {
        // NOTE: data for Katana6M90A with angle gripper
        
        mIsInitialized = false;

        //fill in segment data
        mNumberOfSegments = 4;

        mSegmentLength.push_back(190.0);
        mSegmentLength.push_back(139.0);
        mSegmentLength.push_back(147.3);
        mSegmentLength.push_back(150.5);

        //fill in joint data
        mNumberOfMotors = 6;

        mAngleOffset.push_back(0.116064);
        mAngleStop.push_back(6.154904);
        mEncodersPerCycle.push_back(51200);
        mEncoderOffset.push_back(31000);
        mRotationDirection.push_back(1);

        mAngleOffset.push_back(2.168572);
        mAngleStop.push_back(-0.274889);
        mEncodersPerCycle.push_back(94976);
        mEncoderOffset.push_back(-31000);
        mRotationDirection.push_back(1);

        mAngleOffset.push_back(0.919789);
        mAngleStop.push_back(5.283112);
        mEncodersPerCycle.push_back(47488);
        mEncoderOffset.push_back(-31000);
        mRotationDirection.push_back(-1);

        mAngleOffset.push_back(1.108284);
        mAngleStop.push_back(5.122541);
        mEncodersPerCycle.push_back(51200);
        mEncoderOffset.push_back(31000);
        mRotationDirection.push_back(1);

        mAngleOffset.push_back(0.148353); // for 6M90B: -2.99324
        mAngleStop.push_back(6.117379); // for 6M90B: 2.975787
        mEncodersPerCycle.push_back(51200);
        mEncoderOffset.push_back(31000);
        mRotationDirection.push_back(1);

        mAngleOffset.push_back(-2.085668);
        mAngleStop.push_back(3.656465);
        mEncodersPerCycle.push_back(51200);
        mEncoderOffset.push_back(31000);
        mRotationDirection.push_back(1);

        mIsInitialized = true;

        return mIsInitialized;
}
void Kinematics6M90G::IK_theta234theta5(angles_calc& angle, const position &p_gr) const {
        angle.theta234 = -MHF::acotan( (  (p_gr.x * p_gr.z * cos(angle.theta1) ) -
                                     sqrt( ( -MHF::pow2(p_gr.z) ) *
                                           ( -MHF::pow2(mSegmentLength[3]) + MHF::pow2(p_gr.x) + MHF::pow2(p_gr.z) ) * MHF::pow2(sin(angle.theta1))
                                         )
                                  ) / MHF::pow2(p_gr.z)
                                );

        angle.theta5   = acos( p_gr.z/(mSegmentLength[3]*sin(angle.theta234)) );

        if(p_gr.z==0) {
                angle.theta234=0;
                angle.theta5=angle.theta1-MHF::atan1(-p_gr.x,-p_gr.y);
        }

        bool griptest;
        griptest = GripperTest(p_gr, angle);
        if(!griptest) {
                angle.theta5=-angle.theta5;
                griptest=GripperTest(p_gr, angle);
                if(!griptest) {
                        angle.theta234 = -MHF::acotan( (   ( p_gr.x * p_gr.z * cos(angle.theta1) ) +
                                                      sqrt( ( -MHF::pow2(p_gr.z) ) *
                                                            ( -MHF::pow2(mSegmentLength[3]) + MHF::pow2(p_gr.x) + MHF::pow2(p_gr.z) ) * MHF::pow2(sin(angle.theta1))
                                                          )
                                                  ) / MHF::pow2(p_gr.z)
                                                );
                        angle.theta5 =  acos( p_gr.z / (mSegmentLength[3]*sin(angle.theta234)) );
                        if(p_gr.z==0) {
                                angle.theta234=-MHF_PI;
                                angle.theta5=MHF::atan1(p_gr.x,p_gr.y) - angle.theta1;
                        }

                        griptest=GripperTest(p_gr, angle);
                        if(!griptest) {
                                angle.theta5=-angle.theta5;
                        }
                }
        }

}
bool Kinematics6M90G::GripperTest(const position &p_gr, const angles_calc &angle) const {
        double xgr2, ygr2, zgr2;

        xgr2 = -mSegmentLength[3]*(cos(angle.theta1)*cos(angle.theta234)*cos(angle.theta5)+sin(angle.theta1)*sin(angle.theta5));
        ygr2 = -mSegmentLength[3]*(sin(angle.theta1)*cos(angle.theta234)*cos(angle.theta5)-cos(angle.theta1)*sin(angle.theta5));
        zgr2 =  mSegmentLength[3]*sin(angle.theta234)*cos(angle.theta5);

        if((MHF::pow2(p_gr.x-xgr2)+MHF::pow2(p_gr.y-ygr2)+MHF::pow2(p_gr.z-zgr2))>=cTolerance)
                return false;

        return true;
}
void Kinematics6M90G::IK_b1b2costh3_6MS(angles_calc &angle, const position &p) const {
        double xg, yg, zg;
        double d5 = mSegmentLength[2] + mSegmentLength[3];
        xg = p.x + ( mSegmentLength[3] * cos(angle.theta1) * sin(angle.theta234) );
        yg = p.y + ( mSegmentLength[3] * sin(angle.theta1) * sin(angle.theta234) );
        zg = p.z + ( mSegmentLength[3]                     * cos(angle.theta234) );


        angle.b1 = xg*cos(angle.theta1) + yg*sin(angle.theta1) - d5*sin(angle.theta234);
        angle.b2 = zg - d5*cos(angle.theta234);
        angle.costh3 = -( MHF::pow2(angle.b1) + MHF::pow2(angle.b2) - MHF::pow2(mSegmentLength[0]) - MHF::pow2(mSegmentLength[1]) ) / ( 2.0*mSegmentLength[0]*mSegmentLength[1] );

}
void Kinematics6M90G::thetacomp(angles_calc &angle, const position &p_m) const {
        angle.theta2 = -MHF_PI/2.0 - ( MHF::atan0(angle.b1,angle.b2)+MHF::atan0(mSegmentLength[0]+mSegmentLength[1]*cos(angle.theta3),mSegmentLength[1]*sin(angle.theta3)) );
        angle.theta4 = angle.theta234-angle.theta2-angle.theta3;

        if(!PositionTest6MS(angle,p_m)) {
                angle.theta2 = angle.theta2+MHF_PI;
                angle.theta4 = angle.theta234-angle.theta2-angle.theta3;
        }

}
bool Kinematics6M90G::PositionTest6MS(const angles_calc &a, const position &p) const {
        double temp, xm2, ym2, zm2;

        temp = mSegmentLength[0]*sin(a.theta2)+mSegmentLength[1]*sin(a.theta2+a.theta3)+mSegmentLength[2]*sin(a.theta234);
        xm2 = cos(a.theta1)*temp;
        ym2 = sin(a.theta1)*temp;
        zm2 = mSegmentLength[0]*cos(a.theta2)+mSegmentLength[1]*cos(a.theta2+a.theta3)+mSegmentLength[2]*cos(a.theta234);

        if((MHF::pow2(p.x-xm2)+MHF::pow2(p.y-ym2)+MHF::pow2(p.z-zm2))>=cTolerance)
                return false;

        return true;
}
bool Kinematics6M90G::angledef(angles_calc &a) const {
        // constants here. needs refactoring:
        a.theta2=MHF::anglereduce(a.theta2+MHF_PI/2.0);
        a.theta3=MHF::anglereduce(a.theta3+MHF_PI);
        a.theta4=MHF::anglereduce(MHF_PI-a.theta4);
        a.theta5=MHF::anglereduce(a.theta5);

        if(a.theta1>mAngleStop[0]) {
                a.theta1=a.theta1-2.0*MHF_PI;
        }
        if(a.theta2>MHF_PI) {
                a.theta2=a.theta2-2.0*MHF_PI;
        }
        if(a.theta5<mAngleOffset[4]) {
                a.theta5=a.theta5+2.0*MHF_PI;
        }

        return AnglePositionTest(a);

}
bool Kinematics6M90G::AnglePositionTest(const angles_calc &a) const {

        if( (a.theta1+0.0087<mAngleOffset[0])||(a.theta1>mAngleStop[0]) )
                return false;

        if( (a.theta2-0.0087>mAngleOffset[1])||(a.theta2<mAngleStop[1]) )
                return false;

        if( (a.theta3<mAngleOffset[2])||(a.theta3>mAngleStop[2]) )
                return false;

        if( (a.theta4<mAngleOffset[3])||(a.theta4>mAngleStop[3]) )
                return false;

        if( (a.theta5<mAngleOffset[4])||(a.theta5>mAngleStop[4]) )
                return false;

        return true;
}
} // namespace